Some results on the study of the kneed gait biped

The new passive gait biped model added with knees can be reduced to a kind of five mass point bar linkage. The variation of the potential energy and the kinetical energy has been discussed. Moreover, the conversion law between kinetic energy and potential energy, the energy distribution between the swing leg and stance leg during the walking process, phase-space limit cycle of a symmetric gait of the robot on a certain degree slope have also been presented in detail in the paper as well as the dipiction about culmination points which exist in potential and kinetic energy conversion of the coupling two legs. All the research above will have realistic significance in helping us to better awaring of walking rules and global properties of the biped gaits of the robot.